cb_local_planner::LocalPlannerInterface Class Reference

#include <local_planner_interface.h>

Public Member Functions
	LocalPlannerInterface (costmap_2d::Costmap2DROS *costmap, tf2_ros::Buffer *tf)
	~LocalPlannerInterface ()

Private Member Functions
void	actionServerPreempt ()
void	actionServerSetPlan ()
	Action Server stuff. More...
void	controllerThread ()
void	doSomeMotionPlanning ()
bool	isGoalSet ()
void	topicGoalCallback (const cb_base_navigation_msgs::LocalPlannerActionGoalConstPtr &goal)
	topic goal cb More...
bool	updateEndGoalOrientation ()
	Helper functions. More...

Private Attributes
std::unique_ptr< actionlib::SimpleActionServer< cb_base_navigation_msgs::LocalPlannerAction > >	action_server_
double	controller_frequency_
std::unique_ptr< std::thread >	controller_thread_
costmap_2d::Costmap2DROS *	costmap_
	Costmaps. More...
ros::ServiceClient	ed_client_
	World model client. More...
cb_base_navigation_msgs::LocalPlannerFeedback	feedback_
std::string	global_frame_
cb_base_navigation_msgs::LocalPlannerGoal	goal_
boost::mutex	goal_mtx_
boost::shared_ptr< nav_core::BaseLocalPlanner >	local_planner_
	Planners + loaders. More...
pluginlib::ClassLoader< nav_core::BaseLocalPlanner >	lp_loader_
std::string	robot_base_frame_
	Frame names + Tranforms. More...
tf2_ros::Buffer *	tf_
ros::Subscriber	topic_sub_
ros::Publisher	vel_pub_
	ROS Communication. More...
Visualization	vis
	Visualization. More...

Detailed Description

Definition at line 43 of file local_planner_interface.h.

Constructor & Destructor Documentation

LocalPlannerInterface()

cb_local_planner::LocalPlannerInterface::LocalPlannerInterface	(	costmap_2d::Costmap2DROS *	costmap,
		tf2_ros::Buffer *	tf
	)

Definition at line 30 of file local_planner_interface.cpp.

~LocalPlannerInterface()

cb_local_planner::LocalPlannerInterface::~LocalPlannerInterface

(

)

Definition at line 21 of file local_planner_interface.cpp.

Member Function Documentation

actionServerPreempt()

void cb_local_planner::LocalPlannerInterface::actionServerPreempt ( )

private

Definition at line 114 of file local_planner_interface.cpp.

actionServerSetPlan()

void cb_local_planner::LocalPlannerInterface::actionServerSetPlan ( )

private

Action Server stuff.

Definition at line 98 of file local_planner_interface.cpp.

controllerThread()

void cb_local_planner::LocalPlannerInterface::controllerThread ( )

private

Definition at line 122 of file local_planner_interface.cpp.

doSomeMotionPlanning()

void cb_local_planner::LocalPlannerInterface::doSomeMotionPlanning ( )

private

Definition at line 226 of file local_planner_interface.cpp.

isGoalSet()

bool cb_local_planner::LocalPlannerInterface::isGoalSet ( )

inlineprivate

Definition at line 59 of file local_planner_interface.h.

topicGoalCallback()

void cb_local_planner::LocalPlannerInterface::topicGoalCallback ( const cb_base_navigation_msgs::LocalPlannerActionGoalConstPtr &  goal )

private

topic goal cb

Definition at line 82 of file local_planner_interface.cpp.

updateEndGoalOrientation()

bool cb_local_planner::LocalPlannerInterface::updateEndGoalOrientation ( )

private

Helper functions.

Definition at line 266 of file local_planner_interface.cpp.

Member Data Documentation

action_server_

std::unique_ptr<actionlib::SimpleActionServer<cb_base_navigation_msgs::LocalPlannerAction> > cb_local_planner::LocalPlannerInterface::action_server_

private

Definition at line 64 of file local_planner_interface.h.

controller_frequency_

double cb_local_planner::LocalPlannerInterface::controller_frequency_

private

Definition at line 81 of file local_planner_interface.h.

controller_thread_

std::unique_ptr<std::thread> cb_local_planner::LocalPlannerInterface::controller_thread_

private

Definition at line 54 of file local_planner_interface.h.

costmap_

costmap_2d::Costmap2DROS* cb_local_planner::LocalPlannerInterface::costmap_

private

Costmaps.

Definition at line 88 of file local_planner_interface.h.

ed_client_

ros::ServiceClient cb_local_planner::LocalPlannerInterface::ed_client_

private

World model client.

Definition at line 70 of file local_planner_interface.h.

feedback_

cb_base_navigation_msgs::LocalPlannerFeedback cb_local_planner::LocalPlannerInterface::feedback_

private

Definition at line 76 of file local_planner_interface.h.

global_frame_

std::string cb_local_planner::LocalPlannerInterface::global_frame_

private

Definition at line 84 of file local_planner_interface.h.

goal_

cb_base_navigation_msgs::LocalPlannerGoal cb_local_planner::LocalPlannerInterface::goal_

private

Definition at line 75 of file local_planner_interface.h.

goal_mtx_

boost::mutex cb_local_planner::LocalPlannerInterface::goal_mtx_

private

Definition at line 53 of file local_planner_interface.h.

local_planner_

boost::shared_ptr<nav_core::BaseLocalPlanner> cb_local_planner::LocalPlannerInterface::local_planner_

private

Planners + loaders.

Definition at line 79 of file local_planner_interface.h.

lp_loader_

pluginlib::ClassLoader<nav_core::BaseLocalPlanner> cb_local_planner::LocalPlannerInterface::lp_loader_

private

Definition at line 80 of file local_planner_interface.h.

robot_base_frame_

std::string cb_local_planner::LocalPlannerInterface::robot_base_frame_

private

Frame names + Tranforms.

Definition at line 84 of file local_planner_interface.h.

tf_

tf2_ros::Buffer* cb_local_planner::LocalPlannerInterface::tf_

private

Definition at line 85 of file local_planner_interface.h.

topic_sub_

ros::Subscriber cb_local_planner::LocalPlannerInterface::topic_sub_

private

Definition at line 63 of file local_planner_interface.h.

vel_pub_

ros::Publisher cb_local_planner::LocalPlannerInterface::vel_pub_

private

ROS Communication.

Definition at line 62 of file local_planner_interface.h.

vis

Visualization cb_local_planner::LocalPlannerInterface::vis

private

Visualization.

Definition at line 94 of file local_planner_interface.h.

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The documentation for this class was generated from the following files:

• local_planner_interface.h
• local_planner_interface.cpp